added pus c support for tc

defaultcfg/fsfwconfig/FSFWConfig.h

@@ -18,6 +18,7 @@
 #endif
 
 #define FSFW_USE_PUS_C_TELEMETRY        1
+#define FSFW_USE_PUS_C_TELECOMMANDS     1
 
 //! Can be used to disable the ANSI color sequences for C stdio.
 #define FSFW_COLORED_OUTPUT 		    1

tcdistribution/CMakeLists.txt

@@ -1,5 +1,4 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(${LIB_FSFW_NAME} PRIVATE 
-	PRIVATE 
     CCSDSDistributor.cpp
     PUSDistributor.cpp
     TcDistributor.cpp

tcdistribution/PUSDistributor.cpp

@@ -3,7 +3,6 @@
 
 #include "../objectmanager/ObjectManager.h"
 #include "../serviceinterface/ServiceInterface.h"
-#include "../tmtcpacket/pus/TcPacketStored.h"
 #include "../tmtcservices/PusVerificationReport.h"
 
 #define PUS_DISTRIBUTOR_DEBUGGING     0
@@ -119,7 +118,11 @@ uint16_t PUSDistributor::getIdentifier() {
 }
 
 ReturnValue_t PUSDistributor::initialize() {
-    currentPacket = new TcPacketStored();
+#if FSFW_USE_PUS_C_TELECOMMANDS == 1
+    currentPacket = new TcPacketStoredPusC();
+#else
+    currentPacket = new TcPacketStoredPusA();
+#endif
     if(currentPacket == nullptr) {
         // Should not happen, memory allocation failed!
         return ObjectManagerIF::CHILD_INIT_FAILED;

tcdistribution/PUSDistributor.h

@@ -5,6 +5,7 @@
 #include "TcDistributor.h"
 #include "TcPacketCheck.h"
 
+#include "../tmtcpacket/pus/TcPacketStored.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../tmtcservices/AcceptsTelecommandsIF.h"
 #include "../tmtcservices/VerificationReporter.h"
@@ -51,7 +52,12 @@ protected:
 	/**
 	 * The currently handled packet is stored here.
 	 */
-	TcPacketStored* currentPacket = nullptr;
+#if FSFW_USE_PUS_C_TELECOMMANDS == 1
+	TcPacketStoredPusC* currentPacket = nullptr;
+#else
+	TcPacketStoredPusA* currentPacket = nullptr;
+#endif
+
 	/**
 	 * With this variable, the current check status is stored to generate
 	 * acceptance messages later.

tcdistribution/TcPacketCheck.cpp

@@ -1,33 +1,39 @@
 #include "TcPacketCheck.h"
 
 #include "../globalfunctions/CRC.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../tmtcpacket/pus/TcPacketBase.h"
+#include "../tmtcpacket/pus/TcPacketStoredBase.h"
+#include "../serviceinterface/ServiceInterface.h"
 #include "../storagemanager/StorageManagerIF.h"
 #include "../tmtcservices/VerificationCodes.h"
 
 TcPacketCheck::TcPacketCheck(uint16_t setApid): apid(setApid) {
 }
 
-ReturnValue_t TcPacketCheck::checkPacket( TcPacketStored* currentPacket ) {
+ReturnValue_t TcPacketCheck::checkPacket(TcPacketStoredBase* currentPacket) {
-	uint16_t calculated_crc = CRC::crc16ccitt( currentPacket->getWholeData(),
+    TcPacketBase* tcPacketBase = currentPacket->getPacketBase();
-	        currentPacket->getFullSize() );
+    if(tcPacketBase == nullptr) {
+        return RETURN_FAILED;
+    }
+    uint16_t calculated_crc = CRC::crc16ccitt(tcPacketBase->getWholeData(),
+            tcPacketBase->getFullSize());
     if (calculated_crc != 0) {
         return INCORRECT_CHECKSUM;
     }
-	bool condition = (not currentPacket->hasSecondaryHeader()) or
+    bool condition = (not tcPacketBase->hasSecondaryHeader()) or
-			(currentPacket->getPacketVersionNumber() != CCSDS_VERSION_NUMBER) or
+            (tcPacketBase->getPacketVersionNumber() != CCSDS_VERSION_NUMBER) or
-			(not currentPacket->isTelecommand());
+            (not tcPacketBase->isTelecommand());
     if (condition) {
         return INCORRECT_PRIMARY_HEADER;
     }
-	if ( currentPacket->getAPID() != this->apid )
+    if (tcPacketBase->getAPID() != this->apid)
         return ILLEGAL_APID;
 
     if (not currentPacket->isSizeCorrect()) {
         return INCOMPLETE_PACKET;
     }
-	condition = (currentPacket->getSecondaryHeaderFlag() != CCSDS_SECONDARY_HEADER_FLAG) ||
+    condition = (tcPacketBase->getSecondaryHeaderFlag() != CCSDS_SECONDARY_HEADER_FLAG) ||
-			(currentPacket->getPusVersionNumber() != PUS_VERSION_NUMBER);
+            (tcPacketBase->getPusVersionNumber() != PUS_VERSION_NUMBER);
     if (condition) {
         return INCORRECT_SECONDARY_HEADER;
     }

tcdistribution/TcPacketCheck.h

@@ -2,9 +2,10 @@
 #define FSFW_TCDISTRIBUTION_TCPACKETCHECK_H_
 
 #include "../returnvalues/HasReturnvaluesIF.h"
-#include "../tmtcpacket/pus/TcPacketStored.h"
 #include "../tmtcservices/PusVerificationReport.h"
 
+class TcPacketStoredBase;
+
 /**
  * This class performs a formal packet check for incoming PUS Telecommand Packets.
  * Currently, it only checks if the APID and CRC are correct.
@@ -51,10 +52,9 @@ public:
      * 			- @c INCORRECT_CHECKSUM if checksum is invalid.
      * 			- @c ILLEGAL_APID if APID does not match.
      */
-	ReturnValue_t checkPacket( TcPacketStored* currentPacket );
+    ReturnValue_t checkPacket(TcPacketStoredBase* currentPacket);
 
     uint16_t getApid() const;
 };
 
-
 #endif /* FSFW_TCDISTRIBUTION_TCPACKETCHECK_H_ */

tmtcpacket/CMakeLists.txt

@@ -1,5 +1,4 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(${LIB_FSFW_NAME} PRIVATE 
-	PRIVATE 
     SpacePacket.cpp
     SpacePacketBase.cpp
 )

tmtcpacket/pus/CMakeLists.txt

@@ -1,8 +1,9 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(${LIB_FSFW_NAME} PRIVATE
-	PRIVATE
     TcPacketBase.cpp
     TcPacketPusA.cpp
-		TcPacketStored.cpp
+    TcPacketStoredBase.cpp
+    TcPacketStoredPusA.cpp
+
     TmPacketBase.cpp
     TmPacketMinimal.cpp
     TmPacketStoredPusA.cpp

tmtcpacket/pus/TcPacketBase.cpp

@@ -2,87 +2,19 @@
 
 #include "../../globalfunctions/CRC.h"
 #include "../../globalfunctions/arrayprinter.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../serviceinterface/ServiceInterface.h"
 
 #include <cstring>
 
-TcPacketBase::TcPacketBase(const uint8_t* setData) :
+TcPacketBase::TcPacketBase(const uint8_t* setData): SpacePacketBase(setData) {}
-		SpacePacketBase(setData) {
-	tcData = reinterpret_cast<TcPacketPointer*>(const_cast<uint8_t*>(setData));
-}
 
-TcPacketBase::~TcPacketBase() {
+TcPacketBase::~TcPacketBase() {}
-	//Nothing to do.
-}
-
-uint8_t TcPacketBase::getService() {
-	return tcData->dataField.service_type;
-}
-
-uint8_t TcPacketBase::getSubService() {
-	return tcData->dataField.service_subtype;
-}
-
-uint8_t TcPacketBase::getAcknowledgeFlags() {
-	return tcData->dataField.version_type_ack & 0b00001111;
-}
-
-const uint8_t* TcPacketBase::getApplicationData() const {
-	return &tcData->appData;
-}
-
-uint16_t TcPacketBase::getApplicationDataSize() {
-	return getPacketDataLength() - sizeof(tcData->dataField) - CRC_SIZE + 1;
-}
-
-uint16_t TcPacketBase::getErrorControl() {
-	uint16_t size = getApplicationDataSize() + CRC_SIZE;
-	uint8_t* p_to_buffer = &tcData->appData;
-	return (p_to_buffer[size - 2] << 8) + p_to_buffer[size - 1];
-}
-
-void TcPacketBase::setErrorControl() {
-	uint32_t full_size = getFullSize();
-	uint16_t crc = CRC::crc16ccitt(getWholeData(), full_size - CRC_SIZE);
-	uint32_t size = getApplicationDataSize();
-	(&tcData->appData)[size] = (crc & 0XFF00) >> 8;	// CRCH
-	(&tcData->appData)[size + 1] = (crc) & 0X00FF; 		// CRCL
-}
-
-void TcPacketBase::setData(const uint8_t* pData) {
-	SpacePacketBase::setData(pData);
-	tcData = (TcPacketPointer*) pData;
-}
-
-uint8_t TcPacketBase::getSecondaryHeaderFlag() {
-	return (tcData->dataField.version_type_ack & 0b10000000) >> 7;
-}
-
-uint8_t TcPacketBase::getPusVersionNumber() {
-	return (tcData->dataField.version_type_ack & 0b01110000) >> 4;
-}
 
 void TcPacketBase::print() {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::debug << "TcPacketBase::print: " << std::endl;
+    sif::info << "TcPacketBase::print:" << std::endl;
+#else
+    sif::printInfo("TcPacketBase::print:\n");
 #endif
     arrayprinter::print(getWholeData(), getFullSize());
 }
-
-void TcPacketBase::initializeTcPacket(uint16_t apid, uint16_t sequenceCount,
-        uint8_t ack, uint8_t service, uint8_t subservice) {
-	initSpacePacketHeader(true, true, apid, sequenceCount);
-	std::memset(&tcData->dataField, 0, sizeof(tcData->dataField));
-	setPacketDataLength(sizeof(PUSTcDataFieldHeader) + CRC_SIZE - 1);
-	//Data Field Header:
-	//Set CCSDS_secondary_header_flag to 0 and version number to 001
-	tcData->dataField.version_type_ack = 0b00010000;
-	tcData->dataField.version_type_ack |= (ack & 0x0F);
-	tcData->dataField.service_type = service;
-	tcData->dataField.service_subtype = subservice;
-}
-
-size_t TcPacketBase::calculateFullPacketLength(size_t appDataLen) {
-	return sizeof(CCSDSPrimaryHeader) + sizeof(PUSTcDataFieldHeader) +
-			appDataLen + TcPacketBase::CRC_SIZE;
-}

tmtcpacket/pus/TcPacketBase.h

@@ -16,9 +16,8 @@
  * @ingroup tmtcpackets
  */
 class TcPacketBase : public SpacePacketBase {
+    friend class TcPacketStoredBase;
 public:
-	static const uint16_t TC_PACKET_MIN_SIZE = (sizeof(CCSDSPrimaryHeader) +
-	        sizeof(PUSTcDataFieldHeader) + 2);
 
 	enum AckField {
 		//! No acknowledgements are expected.
@@ -54,7 +53,7 @@ public:
 	 * highest bit of the first byte of the Data Field Header.
 	 * @return	the CCSDS Secondary Header Flag
 	 */
-	uint8_t getSecondaryHeaderFlag();
+	virtual uint8_t getSecondaryHeaderFlag() = 0;
 	/**
 	 * This command returns the TC Packet PUS Version Number.
 	 * The version number of ECSS PUS 2003 is 1.
@@ -62,7 +61,7 @@ public:
 	 * first byte.
 	 * @return
 	 */
-	uint8_t getPusVersionNumber();
+	virtual uint8_t getPusVersionNumber() = 0;
 	/**
 	 * This is a getter for the packet's Ack field, which are the lowest four
 	 * bits of the first byte of the Data Field Header.
@@ -70,19 +69,19 @@ public:
 	 * It is packed in a uint8_t variable.
 	 * @return	The packet's PUS Ack field.
 	 */
-	uint8_t getAcknowledgeFlags();
+	virtual uint8_t getAcknowledgeFlags() = 0;
 	/**
 	 * This is a getter for the packet's PUS Service ID, which is the second
 	 * byte of the Data Field Header.
 	 * @return	The packet's PUS Service ID.
 	 */
-	uint8_t getService();
+	virtual uint8_t getService() const = 0;
 	/**
 	 * This is a getter for the packet's PUS Service Subtype, which is the
 	 * third byte of the Data Field Header.
 	 * @return	The packet's PUS Service Subtype.
 	 */
-	uint8_t getSubService();
+	virtual uint8_t getSubService() = 0;
 	/**
 	 * This is a getter for a pointer to the packet's Application data.
 	 *
@@ -90,7 +89,7 @@ public:
 	 * the packet's application data.
 	 * @return	A pointer to the PUS Application Data.
 	 */
-	const uint8_t* getApplicationData() const;
+	virtual const uint8_t* getApplicationData() const = 0;
 	/**
 	 * This method calculates the size of the PUS Application data field.
 	 *
@@ -99,7 +98,7 @@ public:
 	 * @return	The size of the PUS Application Data (without Error Control
 	 * 		field)
 	 */
-	uint16_t getApplicationDataSize();
+	virtual uint16_t getApplicationDataSize() = 0;
 	/**
 	 * This getter returns the Error Control Field of the packet.
 	 *
@@ -108,44 +107,26 @@ public:
 	 * supposed to be a 16bit-CRC.
 	 * @return	The PUS Error Control
 	 */
-	uint16_t getErrorControl();
+	virtual uint16_t getErrorControl() = 0;
 	/**
 	 * With this method, the Error Control Field is updated to match the
 	 * current content of the packet.
 	 */
-	void setErrorControl();
+	virtual void setErrorControl() = 0;
+
+	/**
+	 * Calculate full packet length from application data length.
+	 * @param appDataLen
+	 * @return
+	 */
+	virtual size_t calculateFullPacketLength(size_t appDataLen) = 0;
 
     /**
      * This is a debugging helper method that prints the whole packet content
      * to the screen.
      */
     void print();
-	/**
-	 * Calculate full packet length from application data length.
-	 * @param appDataLen
-	 * @return
-	 */
-	static size_t calculateFullPacketLength(size_t appDataLen);
-
 protected:
-    /**
-     * A pointer to a structure which defines the data structure of
-     * the packet's data.
-     *
-     * To be hardware-safe, all elements are of byte size.
-     */
-    TcPacketPointer* tcData;
-
-    /**
-     * Initializes the Tc Packet header.
-     * @param apid APID used.
-     * @param sequenceCount Sequence Count in the primary header.
-     * @param ack Which acknowledeges are expected from the receiver.
-     * @param service   PUS Service
-     * @param subservice PUS Subservice
-     */
-    void initializeTcPacket(uint16_t apid, uint16_t sequenceCount, uint8_t ack,
-            uint8_t service, uint8_t subservice);
 
     /**
      * With this method, the packet data pointer can be redirected to another
@@ -155,7 +136,7 @@ protected:
      *
      * @param p_data    A pointer to another PUS Telecommand Packet.
      */
-    void setData( const uint8_t* pData );
+    void setData( const uint8_t* pData ) = 0;
 };
 
 

tmtcpacket/pus/TcPacketPusA.cpp

@@ -1,3 +1,75 @@
 #include "TcPacketPusA.h"
+#include "../../globalfunctions/CRC.h"
 
+#include <cstring>
 
+TcPacketPusA::TcPacketPusA(const uint8_t *setData): TcPacketBase(setData) {
+    tcData = reinterpret_cast<TcPacketPointer*>(const_cast<uint8_t*>(setData));
+}
+
+uint8_t TcPacketPusA::getService() const {
+    return tcData->dataField.service_type;
+}
+
+uint8_t TcPacketPusA::getSubService() {
+    return tcData->dataField.service_subtype;
+}
+
+uint8_t TcPacketPusA::getAcknowledgeFlags() {
+    return tcData->dataField.version_type_ack & 0b00001111;
+}
+
+const uint8_t* TcPacketPusA::getApplicationData() const {
+    return &tcData->appData;
+}
+
+uint16_t TcPacketPusA::getApplicationDataSize() {
+    return getPacketDataLength() - sizeof(tcData->dataField) - CRC_SIZE + 1;
+}
+
+uint16_t TcPacketPusA::getErrorControl() {
+    uint16_t size = getApplicationDataSize() + CRC_SIZE;
+    uint8_t* p_to_buffer = &tcData->appData;
+    return (p_to_buffer[size - 2] << 8) + p_to_buffer[size - 1];
+}
+
+void TcPacketPusA::setErrorControl() {
+    uint32_t full_size = getFullSize();
+    uint16_t crc = CRC::crc16ccitt(getWholeData(), full_size - CRC_SIZE);
+    uint32_t size = getApplicationDataSize();
+    (&tcData->appData)[size] = (crc & 0XFF00) >> 8; // CRCH
+    (&tcData->appData)[size + 1] = (crc) & 0X00FF;      // CRCL
+}
+
+void TcPacketPusA::setData(const uint8_t* pData) {
+    SpacePacketBase::setData(pData);
+    // This function is const-correct, but it was decided to keep the pointer non-const
+    // for convenience. Therefore, cast aways constness here and then cast to packet type.
+    tcData = reinterpret_cast<TcPacketPointer*>(const_cast<uint8_t*>(pData));
+}
+
+uint8_t TcPacketPusA::getSecondaryHeaderFlag() {
+    return (tcData->dataField.version_type_ack & 0b10000000) >> 7;
+}
+
+uint8_t TcPacketPusA::getPusVersionNumber() {
+    return (tcData->dataField.version_type_ack & 0b01110000) >> 4;
+}
+
+void TcPacketPusA::initializeTcPacket(uint16_t apid, uint16_t sequenceCount,
+        uint8_t ack, uint8_t service, uint8_t subservice) {
+    initSpacePacketHeader(true, true, apid, sequenceCount);
+    std::memset(&tcData->dataField, 0, sizeof(tcData->dataField));
+    setPacketDataLength(sizeof(PUSTcDataFieldHeader) + CRC_SIZE - 1);
+    // Data Field Header:
+    // Set CCSDS_secondary_header_flag to 0 and version number to 001
+    tcData->dataField.version_type_ack = 0b00010000;
+    tcData->dataField.version_type_ack |= (ack & 0x0F);
+    tcData->dataField.service_type = service;
+    tcData->dataField.service_subtype = subservice;
+}
+
+size_t TcPacketPusA::calculateFullPacketLength(size_t appDataLen) {
+    return sizeof(CCSDSPrimaryHeader) + sizeof(PUSTcDataFieldHeader) +
+            appDataLen + TcPacketBase::CRC_SIZE;
+}

tmtcpacket/pus/TcPacketPusA.h

@@ -1,7 +1,7 @@
 #ifndef FSFW_TMTCPACKET_PUS_TCPACKETPUSA_H_
 #define FSFW_TMTCPACKET_PUS_TCPACKETPUSA_H_
 
-#include "ccsds_header.h"
+#include "../ccsds_header.h"
 #include "TcPacketBase.h"
 
 #include <cstdint>
@@ -33,7 +33,50 @@ struct TcPacketPointer {
 
 class TcPacketPusA: public TcPacketBase {
 public:
-private:
+    static const uint16_t TC_PACKET_MIN_SIZE = (sizeof(CCSDSPrimaryHeader) +
+            sizeof(PUSTcDataFieldHeader) + 2);
+
+    /**
+     * Initialize a PUS A telecommand packet which already exists. You can also
+     * create an empty (invalid) object by passing nullptr as the data pointer
+     * @param setData
+     */
+    TcPacketPusA(const uint8_t* setData);
+
+    // Base class overrides
+    virtual uint8_t getSecondaryHeaderFlag() override;
+    virtual uint8_t getPusVersionNumber() override;
+    virtual uint8_t getAcknowledgeFlags() override;
+    virtual uint8_t getService() const override;
+    virtual uint8_t getSubService() override;
+    const uint8_t* getApplicationData() const override;
+    uint16_t getApplicationDataSize() override;
+    uint16_t getErrorControl() override;
+    void setErrorControl() override;
+    size_t calculateFullPacketLength(size_t appDataLen) override;
+
+protected:
+
+    void setData(const uint8_t* pData) override;
+
+    /**
+     * Initializes the Tc Packet header.
+     * @param apid APID used.
+     * @param sequenceCount Sequence Count in the primary header.
+     * @param ack Which acknowledeges are expected from the receiver.
+     * @param service   PUS Service
+     * @param subservice PUS Subservice
+     */
+    void initializeTcPacket(uint16_t apid, uint16_t sequenceCount, uint8_t ack,
+            uint8_t service, uint8_t subservice);
+
+    /**
+     * A pointer to a structure which defines the data structure of
+     * the packet's data.
+     *
+     * To be hardware-safe, all elements are of byte size.
+     */
+    TcPacketPointer* tcData = nullptr;
 };
 
 

tmtcpacket/pus/TcPacketStored.cpp

@@ -1,124 +0,0 @@
-#include "TcPacketStored.h"
-
-#include "../../objectmanager/ObjectManager.h"
-#include "../../serviceinterface/ServiceInterface.h"
-
-#include <cstring>
-
-StorageManagerIF* TcPacketStored::store = nullptr;
-
-TcPacketStored::TcPacketStored(store_address_t setAddress) :
-		TcPacketBase(nullptr), storeAddress(setAddress) {
-	setStoreAddress(storeAddress);
-}
-
-TcPacketStored::TcPacketStored(uint16_t apid,  uint8_t service,
-        uint8_t subservice, uint8_t sequenceCount, const uint8_t* data,
-		size_t size, uint8_t ack) :
-		TcPacketBase(nullptr) {
-	this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
-	if (not this->checkAndSetStore()) {
-		return;
-	}
-	uint8_t* pData = nullptr;
-	ReturnValue_t returnValue = this->store->getFreeElement(&this->storeAddress,
-			(TC_PACKET_MIN_SIZE + size), &pData);
-	if (returnValue != this->store->RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::warning << "TcPacketStored: Could not get free element from store!"
-				<< std::endl;
-#endif
-		return;
-	}
-	this->setData(pData);
-	initializeTcPacket(apid, sequenceCount, ack, service, subservice);
-	memcpy(&tcData->appData, data, size);
-	this->setPacketDataLength(
-			size + sizeof(PUSTcDataFieldHeader) + CRC_SIZE - 1);
-	this->setErrorControl();
-}
-
-ReturnValue_t TcPacketStored::getData(const uint8_t ** dataPtr,
-		size_t* dataSize) {
-	auto result = this->store->getData(storeAddress, dataPtr, dataSize);
-	if(result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::warning << "TcPacketStored: Could not get data!" << std::endl;
-#endif
-	}
-	return result;
-}
-
-TcPacketStored::TcPacketStored(): TcPacketBase(nullptr) {
-	this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
-	this->checkAndSetStore();
-
-}
-
-ReturnValue_t TcPacketStored::deletePacket() {
-	ReturnValue_t result = this->store->deleteData(this->storeAddress);
-	this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
-	this->setData(nullptr);
-	return result;
-}
-
-bool TcPacketStored::checkAndSetStore() {
-	if (this->store == nullptr) {
-		this->store = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
-		if (this->store == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-			sif::error << "TcPacketStored::TcPacketStored: TC Store not found!"
-					<< std::endl;
-#endif
-			return false;
-		}
-	}
-	return true;
-}
-
-void TcPacketStored::setStoreAddress(store_address_t setAddress) {
-	this->storeAddress = setAddress;
-	const uint8_t* tempData = nullptr;
-	size_t temp_size;
-	ReturnValue_t status = StorageManagerIF::RETURN_FAILED;
-	if (this->checkAndSetStore()) {
-		status = this->store->getData(this->storeAddress, &tempData,
-				&temp_size);
-	}
-	if (status == StorageManagerIF::RETURN_OK) {
-		this->setData(tempData);
-	} else {
-		this->setData(nullptr);
-		this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
-	}
-}
-
-store_address_t TcPacketStored::getStoreAddress() {
-	return this->storeAddress;
-}
-
-bool TcPacketStored::isSizeCorrect() {
-	const uint8_t* temp_data = nullptr;
-	size_t temp_size;
-	ReturnValue_t status = this->store->getData(this->storeAddress, &temp_data,
-			&temp_size);
-	if (status == StorageManagerIF::RETURN_OK) {
-		if (this->getFullSize() == temp_size) {
-			return true;
-		}
-	}
-	return false;
-}
-
-TcPacketStored::TcPacketStored(const uint8_t* data, uint32_t size) :
-		TcPacketBase(data) {
-	if (getFullSize() != size) {
-		return;
-	}
-	if (this->checkAndSetStore()) {
-		ReturnValue_t status = store->addData(&storeAddress, data, size);
-		if (status != HasReturnvaluesIF::RETURN_OK) {
-			this->setData(nullptr);
-		}
-	}
-}

tmtcpacket/pus/TcPacketStored.h

@@ -1,117 +1,13 @@
-#ifndef TMTCPACKET_PUS_TCPACKETSTORED_H_
+#ifndef FSFW_TMTCPACKET_PUS_TCPACKETSTORED_H_
-#define TMTCPACKET_PUS_TCPACKETSTORED_H_
+#define FSFW_TMTCPACKET_PUS_TCPACKETSTORED_H_
 
-#include "TcPacketBase.h"
+#include <FSFWConfig.h>
-#include "../../storagemanager/StorageManagerIF.h"
 
-/**
+#if FSFW_USE_PUS_C_TELECOMMANDS == 1
- *	This class generates a ECSS PUS Telecommand packet within a given
+#include "TcPacketStoredPusC.h"
- *	intermediate storage.
+#else
- *	As most packets are passed between tasks with the help of a storage
+#include "TcPacketStoredPusA.h"
- *	anyway, it seems logical to create a Packet-In-Storage access class
+#endif
- *	which saves the user almost all storage handling operation.
- *	Packets can both be newly created with the class and be "linked" to
- *	packets in a store with the help of a storeAddress.
- *	@ingroup tmtcpackets
- */
-class TcPacketStored : public TcPacketBase {
-public:
-	/**
-	 * This is a default constructor which does not set the data pointer.
-	 * However, it does try to set the packet store.
-	 */
-	TcPacketStored();
-	/**
-	 * With this constructor, the class instance is linked to an existing
-	 * packet in the packet store.
-	 * The packet content is neither checked nor changed with this call. If
-	 * the packet could not be found, the data pointer is set to NULL.
-	 */
-	TcPacketStored( store_address_t setAddress );
-	/**
-	 * With this constructor, new space is allocated in the packet store and
-	 * a new PUS Telecommand Packet is created there.
-	 * Packet Application Data passed in data is copied into the packet.
-	 * @param apid			Sets the packet's APID field.
-	 * @param service		Sets the packet's Service ID field.
-	 *                      This specifies the destination service.
-	 * @param subservice	Sets the packet's Service Subtype field.
-	 * 		                This specifies the destination sub-service.
-	 * @param sequence_count Sets the packet's Source Sequence Count field.
-	 * @param data		The data to be copied to the Application Data Field.
-	 * @param size		The amount of data to be copied.
-	 * @param ack           Set's the packet's Ack field, which specifies
-	 *                      number of verification packets returned
-     *                      for this command.
-	 */
-	TcPacketStored(uint16_t apid, uint8_t service, uint8_t subservice,
-			uint8_t sequence_count = 0, const uint8_t* data = nullptr,
-			size_t size = 0, uint8_t ack = TcPacketBase::ACK_ALL);
-	/**
-	 * Another constructor to create a TcPacket from a raw packet stream.
-	 * Takes the data and adds it unchecked to the TcStore.
-	 * @param data	Pointer to the complete TC Space Packet.
-	 * @param Size size of the packet.
-	 */
-	TcPacketStored( const uint8_t* data, uint32_t size);
-
-	/**
-	 * Getter function for the raw data.
-	 * @param dataPtr [out] Pointer to the data pointer to set
-	 * @param dataSize [out] Address of size to set.
-	 * @return -@c RETURN_OK if data was retrieved successfully.
-	 */
-	ReturnValue_t getData(const uint8_t ** dataPtr,
-			size_t* dataSize);
-	/**
-	 * This is a getter for the current store address of the packet.
-	 * @return	The current store address. The (raw) value is
-	 * 			@c StorageManagerIF::INVALID_ADDRESS if the packet is not linked.
-	 */
-	store_address_t getStoreAddress();
-	/**
-	 * With this call, the packet is deleted.
-	 * It removes itself from the store and sets its data pointer to NULL.
-	 * @return	returncode from deleting the data.
-	 */
-	ReturnValue_t deletePacket();
-	/**
-	 * With this call, a packet can be linked to another store. This is useful
-	 * if the packet is a class member and used for more than one packet.
-	 * @param setAddress	The new packet id to link to.
-	 */
-	void setStoreAddress( store_address_t setAddress );
-	/**
-	 * This method performs a size check.
-	 * It reads the stored size and compares it with the size entered in the
-	 * packet header. This class is the optimal place for such a check as it
-	 * has access to both the header data and the store.
-	 * @return	true if size is correct, false if packet is not registered in
-	 * 			store or size is incorrect.
-	 */
-	bool isSizeCorrect();
-
-private:
-    /**
-     * This is a pointer to the store all instances of the class use.
-     * If the store is not yet set (i.e. @c store is NULL), every constructor
-     * call tries to set it and throws an error message in case of failures.
-     * The default store is objects::TC_STORE.
-     */
-    static StorageManagerIF* store;
-    /**
-     * The address where the packet data of the object instance is stored.
-     */
-    store_address_t storeAddress;
-    /**
-     * A helper method to check if a store is assigned to the class.
-     * If not, the method tries to retrieve the store from the global
-     * ObjectManager.
-     * @return  @li @c true if the store is linked or could be created.
-     *          @li @c false otherwise.
-     */
-    bool checkAndSetStore();
-};
 
 
-#endif /* TMTCPACKET_PUS_TCPACKETSTORED_H_ */
+#endif /* FSFW_TMTCPACKET_PUS_TCPACKETSTORED_H_ */

tmtcpacket/pus/TcPacketStoredBase.cpp

@@ -0,0 +1,72 @@
+#include "TcPacketStoredBase.h"
+
+#include "../../objectmanager/ObjectManager.h"
+#include "../../serviceinterface/ServiceInterface.h"
+#include "../../objectmanager/frameworkObjects.h"
+
+#include <cstring>
+
+StorageManagerIF* TcPacketStoredBase::store = nullptr;
+
+TcPacketStoredBase::TcPacketStoredBase() {
+    this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
+    this->checkAndSetStore();
+
+}
+
+TcPacketStoredBase::~TcPacketStoredBase() {
+}
+
+ReturnValue_t TcPacketStoredBase::getData(const uint8_t ** dataPtr,
+		size_t* dataSize) {
+	auto result = this->store->getData(storeAddress, dataPtr, dataSize);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+		sif::warning << "TcPacketStoredBase: Could not get data!" << std::endl;
+#else
+		sif::printWarning("TcPacketStoredBase: Could not get data!\n");
+#endif
+	}
+	return result;
+}
+
+
+
+bool TcPacketStoredBase::checkAndSetStore() {
+	if (this->store == nullptr) {
+		this->store = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
+		if (this->store == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+			sif::error << "TcPacketStoredBase::TcPacketStoredBase: TC Store not found!"
+					<< std::endl;
+#endif
+			return false;
+		}
+	}
+	return true;
+}
+
+void TcPacketStoredBase::setStoreAddress(store_address_t setAddress) {
+    this->storeAddress = setAddress;
+    const uint8_t* tempData = nullptr;
+    size_t tempSize;
+    ReturnValue_t status = StorageManagerIF::RETURN_FAILED;
+    if (this->checkAndSetStore()) {
+        status = this->store->getData(this->storeAddress, &tempData, &tempSize);
+    }
+    TcPacketBase* tcPacketBase = this->getPacketBase();
+    if(tcPacketBase == nullptr) {
+        return;
+    }
+    if (status == StorageManagerIF::RETURN_OK) {
+        tcPacketBase->setData(tempData);
+    }
+    else {
+        tcPacketBase->setData(nullptr);
+        this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
+    }
+}
+
+store_address_t TcPacketStoredBase::getStoreAddress() {
+	return this->storeAddress;
+}

tmtcpacket/pus/TcPacketStoredBase.h

@@ -0,0 +1,90 @@
+#ifndef TMTCPACKET_PUS_TCPACKETSTORED_H_
+#define TMTCPACKET_PUS_TCPACKETSTORED_H_
+
+#include <fsfw/tmtcpacket/pus/TcPacketStoredIF.h>
+#include "../../storagemanager/StorageManagerIF.h"
+
+/**
+ *	This class generates a ECSS PUS Telecommand packet within a given
+ *	intermediate storage.
+ *	As most packets are passed between tasks with the help of a storage
+ *	anyway, it seems logical to create a Packet-In-Storage access class
+ *	which saves the user almost all storage handling operation.
+ *	Packets can both be newly created with the class and be "linked" to
+ *	packets in a store with the help of a storeAddress.
+ *	@ingroup tmtcpackets
+ */
+class TcPacketStoredBase: public TcPacketStoredIF {
+public:
+    /**
+     * This is a default constructor which does not set the data pointer to initialize
+     * with an empty cached store address
+     */
+    TcPacketStoredBase();
+    /**
+     * Constructor to set to an existing store address.
+     * @param setAddress
+     */
+    TcPacketStoredBase(store_address_t setAddress);
+    /**
+     * Another constructor to create a TcPacket from a raw packet stream.
+     * Takes the data and adds it unchecked to the TcStore.
+     * @param data  Pointer to the complete TC Space Packet.
+     * @param Size size of the packet.
+     */
+    TcPacketStoredBase(const uint8_t* data, uint32_t size);
+
+	virtual~ TcPacketStoredBase();
+
+	/**
+	 * Getter function for the raw data.
+	 * @param dataPtr [out] Pointer to the data pointer to set
+	 * @param dataSize [out] Address of size to set.
+	 * @return -@c RETURN_OK if data was retrieved successfully.
+	 */
+	ReturnValue_t getData(const uint8_t ** dataPtr, size_t* dataSize) override;
+
+    void setStoreAddress(store_address_t setAddress) override;
+    store_address_t getStoreAddress() override;
+
+	/**
+	 * With this call, the packet is deleted.
+	 * It removes itself from the store and sets its data pointer to NULL.
+	 * @return	returncode from deleting the data.
+	 */
+	virtual ReturnValue_t deletePacket() = 0;
+
+	/**
+	 * This method performs a size check.
+	 * It reads the stored size and compares it with the size entered in the
+	 * packet header. This class is the optimal place for such a check as it
+	 * has access to both the header data and the store.
+	 * @return	true if size is correct, false if packet is not registered in
+	 * 			store or size is incorrect.
+	 */
+	virtual bool isSizeCorrect() = 0;
+
+protected:
+    /**
+     * This is a pointer to the store all instances of the class use.
+     * If the store is not yet set (i.e. @c store is NULL), every constructor
+     * call tries to set it and throws an error message in case of failures.
+     * The default store is objects::TC_STORE.
+     */
+    static StorageManagerIF* store;
+    /**
+     * The address where the packet data of the object instance is stored.
+     */
+    store_address_t storeAddress;
+    /**
+     * A helper method to check if a store is assigned to the class.
+     * If not, the method tries to retrieve the store from the global
+     * ObjectManager.
+     * @return  @li @c true if the store is linked or could be created.
+     *          @li @c false otherwise.
+     */
+    bool checkAndSetStore();
+};
+
+
+#endif /* TMTCPACKET_PUS_TcPacketStoredBase_H_ */

tmtcpacket/pus/TcPacketStoredIF.h

@@ -0,0 +1,38 @@
+#ifndef FSFW_TMTCPACKET_PUS_TCPACKETSTOREDIF_H_
+#define FSFW_TMTCPACKET_PUS_TCPACKETSTOREDIF_H_
+
+#include "../../tmtcpacket/pus/TcPacketBase.h"
+#include "../../storagemanager/storeAddress.h"
+#include "../../returnvalues/HasReturnvaluesIF.h"
+
+class TcPacketStoredIF {
+public:
+    virtual~TcPacketStoredIF() {};
+
+    /**
+     * With this call, the stored packet can be set to another packet in a store. This is useful
+     * if the packet is a class member and used for more than one packet.
+     * @param setAddress    The new packet id to link to.
+     */
+    virtual void setStoreAddress(store_address_t setAddress) = 0;
+
+    virtual store_address_t getStoreAddress() = 0;
+
+    /**
+     * Getter function for the raw data.
+     * @param dataPtr [out]     Pointer to the data pointer to set
+     * @param dataSize [out]    Address of size to set.
+     * @return -@c RETURN_OK if data was retrieved successfully.
+     */
+    virtual ReturnValue_t getData(const uint8_t ** dataPtr, size_t* dataSize) = 0;
+
+    /**
+     * Get packet base pointer which can be used to get access to PUS packet fields
+     * @return
+     */
+    virtual TcPacketBase* getPacketBase() = 0;
+};
+
+
+
+#endif /* FSFW_TMTCPACKET_PUS_TCPACKETSTOREDIF_H_ */

tmtcpacket/pus/TcPacketStoredPusA.cpp

@@ -0,0 +1,77 @@
+#include "TcPacketStoredPusA.h"
+
+#include <cstring>
+
+TcPacketStoredPusA::TcPacketStoredPusA(uint16_t apid,  uint8_t service,
+        uint8_t subservice, uint8_t sequenceCount, const uint8_t* data,
+        size_t size, uint8_t ack) :
+        TcPacketPusA(nullptr) {
+    this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
+    if (not this->checkAndSetStore()) {
+        return;
+    }
+    uint8_t* pData = nullptr;
+    ReturnValue_t returnValue = this->store->getFreeElement(&this->storeAddress,
+            (TC_PACKET_MIN_SIZE + size), &pData);
+    if (returnValue != this->store->RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "TcPacketStoredBase: Could not get free element from store!"
+                << std::endl;
+#endif
+        return;
+    }
+    this->setData(pData);
+    initializeTcPacket(apid, sequenceCount, ack, service, subservice);
+    std::memcpy(&tcData->appData, data, size);
+    this->setPacketDataLength(
+            size + sizeof(PUSTcDataFieldHeader) + CRC_SIZE - 1);
+    this->setErrorControl();
+}
+
+TcPacketStoredPusA::TcPacketStoredPusA(): TcPacketStoredBase(), TcPacketPusA(nullptr) {
+}
+
+TcPacketStoredPusA::TcPacketStoredPusA(store_address_t setAddress): TcPacketPusA(nullptr) {
+    TcPacketStoredBase::setStoreAddress(setAddress);
+}
+
+TcPacketStoredPusA::TcPacketStoredPusA(const uint8_t* data, size_t size): TcPacketPusA(data) {
+    if (this->getFullSize() != size) {
+        return;
+    }
+    if (this->checkAndSetStore()) {
+        ReturnValue_t status = store->addData(&storeAddress, data, size);
+        if (status != HasReturnvaluesIF::RETURN_OK) {
+            this->setData(nullptr);
+        }
+        const uint8_t* storePtr = nullptr;
+        // Repoint base data pointer to the data in the store.
+        store->getData(storeAddress, &storePtr, &size);
+        this->setData(storePtr);
+    }
+}
+
+ReturnValue_t TcPacketStoredPusA::deletePacket() {
+    ReturnValue_t result = this->store->deleteData(this->storeAddress);
+    this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
+    this->setData(nullptr);
+    return result;
+}
+
+TcPacketBase* TcPacketStoredPusA::getPacketBase() {
+    return this;
+}
+
+
+bool TcPacketStoredPusA::isSizeCorrect() {
+    const uint8_t* temp_data = nullptr;
+    size_t temp_size;
+    ReturnValue_t status = this->store->getData(this->storeAddress, &temp_data,
+            &temp_size);
+    if (status == StorageManagerIF::RETURN_OK) {
+        if (this->getFullSize() == temp_size) {
+            return true;
+        }
+    }
+    return false;
+}

tmtcpacket/pus/TcPacketStoredPusA.h

@@ -0,0 +1,53 @@
+#ifndef FSFW_TMTCPACKET_PUS_TCPACKETSTOREDPUSA_H_
+#define FSFW_TMTCPACKET_PUS_TCPACKETSTOREDPUSA_H_
+
+#include "TcPacketStoredBase.h"
+#include "TcPacketPusA.h"
+
+class TcPacketStoredPusA:
+        public TcPacketStoredBase,
+        public TcPacketPusA {
+public:
+    /**
+     * With this constructor, new space is allocated in the packet store and
+     * a new PUS Telecommand Packet is created there.
+     * Packet Application Data passed in data is copied into the packet.
+     * @param apid          Sets the packet's APID field.
+     * @param service       Sets the packet's Service ID field.
+     *                      This specifies the destination service.
+     * @param subservice    Sets the packet's Service Subtype field.
+     *                      This specifies the destination sub-service.
+     * @param sequence_count Sets the packet's Source Sequence Count field.
+     * @param data      The data to be copied to the Application Data Field.
+     * @param size      The amount of data to be copied.
+     * @param ack           Set's the packet's Ack field, which specifies
+     *                      number of verification packets returned
+     *                      for this command.
+     */
+    TcPacketStoredPusA(uint16_t apid, uint8_t service, uint8_t subservice,
+            uint8_t sequence_count = 0, const uint8_t* data = nullptr,
+            size_t size = 0, uint8_t ack = TcPacketBase::ACK_ALL);
+    /**
+     * Create stored packet with existing data.
+     * @param data
+     * @param size
+     */
+    TcPacketStoredPusA(const uint8_t* data, size_t size);
+    /**
+     * Create stored packet from existing packet in store
+     * @param setAddress
+     */
+    TcPacketStoredPusA(store_address_t setAddress);
+    TcPacketStoredPusA();
+
+    ReturnValue_t deletePacket() override;
+    TcPacketBase* getPacketBase() override;
+
+private:
+
+    bool isSizeCorrect() override;
+};
+
+
+
+#endif /* FSFW_TMTCPACKET_PUS_TCPACKETSTOREDPUSA_H_ */

tmtcpacket/pus/TcPacketStoredPusC.cpp

@@ -0,0 +1,10 @@
+/*
+ * TcPacketStoredPusC.cpp
+ *
+ *  Created on: Jun 13, 2021
+ *      Author: rmueller
+ */
+
+
+
+

tmtcpacket/pus/TmPacketBase.cpp

@@ -44,13 +44,6 @@ ReturnValue_t TmPacketBase::getPacketTime(timeval* timestamp) const {
             &tempSize, getTimestampSize());
 }
 
-void TmPacketBase::print() {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::debug << "TmPacketBase::print: " << std::endl;
-#endif
-    arrayprinter::print(getWholeData(), getFullSize());
-}
-
 bool TmPacketBase::checkAndSetStamper() {
     if (timeStamper == NULL) {
         timeStamper = ObjectManager::instance()->get<TimeStamperIF>(timeStamperId);
@@ -66,3 +59,11 @@ bool TmPacketBase::checkAndSetStamper() {
     return true;
 }
 
+void TmPacketBase::print() {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::info << "TmPacketBase::print:" << std::endl;
+#else
+    sif::printInfo("TmPacketBase::print:\n");
+#endif
+    arrayprinter::print(getWholeData(), getFullSize());
+}

tmtcservices/CommandingServiceBase.cpp

@@ -246,7 +246,11 @@ void CommandingServiceBase::handleRequestQueue() {
 	TmTcMessage message;
 	ReturnValue_t result;
 	store_address_t address;
-	TcPacketStored packet;
+#if FSFW_USE_PUS_C_TELECOMMANDS == 1
+	TcPacketStoredPusC packet;
+#else
+	TcPacketStoredPusA packet;
+#endif
 	MessageQueueId_t queue;
 	object_id_t objectId;
 	for (result = requestQueue->receiveMessage(&message); result == RETURN_OK;
@@ -351,14 +355,18 @@ ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
 }
 
 
-void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
+void CommandingServiceBase::startExecution(TcPacketStoredBase *storedPacket,
         CommandMapIter iter) {
     ReturnValue_t result = RETURN_OK;
     CommandMessage command;
-    iter->second.subservice = storedPacket->getSubService();
+    TcPacketBase* tcPacketBase = storedPacket->getPacketBase();
+    if(tcPacketBase == nullptr) {
+        return;
+    }
+    iter->second.subservice = tcPacketBase->getSubService();
     result = prepareCommand(&command, iter->second.subservice,
-            storedPacket->getApplicationData(),
+            tcPacketBase->getApplicationData(),
-            storedPacket->getApplicationDataSize(), &iter->second.state,
+            tcPacketBase->getApplicationDataSize(), &iter->second.state,
             iter->second.objectId);
 
     ReturnValue_t sendResult = RETURN_OK;
@@ -371,12 +379,12 @@ void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
 		if (sendResult == RETURN_OK) {
 			Clock::getUptime(&iter->second.uptimeOfStart);
 			iter->second.step = 0;
-			iter->second.subservice = storedPacket->getSubService();
+			iter->second.subservice = tcPacketBase->getSubService();
 			iter->second.command = command.getCommand();
-			iter->second.tcInfo.ackFlags = storedPacket->getAcknowledgeFlags();
+			iter->second.tcInfo.ackFlags = tcPacketBase->getAcknowledgeFlags();
-			iter->second.tcInfo.tcPacketId = storedPacket->getPacketId();
+			iter->second.tcInfo.tcPacketId = tcPacketBase->getPacketId();
 			iter->second.tcInfo.tcSequenceControl =
-					storedPacket->getPacketSequenceControl();
+			        tcPacketBase->getPacketSequenceControl();
 			acceptPacket(tc_verification::START_SUCCESS, storedPacket);
 		} else {
 			command.clearCommandMessage();
@@ -392,7 +400,7 @@ void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
 		}
 		if (sendResult == RETURN_OK) {
 			verificationReporter.sendSuccessReport(tc_verification::START_SUCCESS,
-					storedPacket);
+					storedPacket->getPacketBase());
 			acceptPacket(tc_verification::COMPLETION_SUCCESS, storedPacket);
 			checkAndExecuteFifo(iter);
 		} else {
@@ -409,16 +417,16 @@ void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
 }
 
 
-void CommandingServiceBase::rejectPacket(uint8_t report_id,
+void CommandingServiceBase::rejectPacket(uint8_t reportId,
-		TcPacketStored* packet, ReturnValue_t error_code) {
+		TcPacketStoredBase* packet, ReturnValue_t errorCode) {
-	verificationReporter.sendFailureReport(report_id, packet, error_code);
+	verificationReporter.sendFailureReport(reportId, packet->getPacketBase(), errorCode);
 	packet->deletePacket();
 }
 
 
 void CommandingServiceBase::acceptPacket(uint8_t reportId,
-		TcPacketStored* packet) {
+		TcPacketStoredBase* packet) {
-	verificationReporter.sendSuccessReport(reportId, packet);
+	verificationReporter.sendSuccessReport(reportId, packet->getPacketBase());
 	packet->deletePacket();
 }
 
@@ -428,7 +436,11 @@ void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter& iter) {
 	if (iter->second.fifo.retrieve(&address) != RETURN_OK) {
 		commandMap.erase(&iter);
 	} else {
-		TcPacketStored newPacket(address);
+#if FSFW_USE_PUS_C_TELECOMMANDS == 1
+		TcPacketStoredPusC newPacket(address);
+#else
+		TcPacketStoredPusA newPacket(address);
+#endif
 		startExecution(&newPacket, iter);
 	}
 }

tmtcservices/CommandingServiceBase.h

@@ -1,6 +1,7 @@
 #ifndef FSFW_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
 #define FSFW_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
 
+#include <fsfw/tmtcpacket/pus/TcPacketStoredBase.h>
 #include "AcceptsTelecommandsIF.h"
 #include "VerificationReporter.h"
 
@@ -351,12 +352,12 @@ private:
 	 */
 	void handleRequestQueue();
 
-	void rejectPacket(uint8_t reportId, TcPacketStored* packet,
+	void rejectPacket(uint8_t reportId, TcPacketStoredBase* packet,
 			ReturnValue_t errorCode);
 
-	void acceptPacket(uint8_t reportId, TcPacketStored* packet);
+	void acceptPacket(uint8_t reportId, TcPacketStoredBase* packet);
 
-	void startExecution(TcPacketStored *storedPacket, CommandMapIter iter);
+	void startExecution(TcPacketStoredBase *storedPacket, CommandMapIter iter);
 
 	void handleCommandMessage(CommandMessage* reply);
 	void handleReplyHandlerResult(ReturnValue_t result, CommandMapIter iter,

tmtcservices/PusServiceBase.h

@@ -141,7 +141,11 @@ protected:
 	 * The current Telecommand to be processed.
 	 * It is deleted after handleRequest was executed.
 	 */
-	TcPacketStored currentPacket;
+#if FSFW_USE_PUS_C_TELECOMMANDS == 1
+	TcPacketStoredPusC currentPacket;
+#else
+    TcPacketStoredPusA currentPacket;
+#endif
 
 	static object_id_t packetSource;
 

tmtcservices/VerificationReporter.cpp

@@ -17,14 +17,17 @@ VerificationReporter::VerificationReporter() :
 VerificationReporter::~VerificationReporter() {}
 
 void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
-		TcPacketBase* current_packet, uint8_t set_step) {
+		TcPacketBase* currentPacket, uint8_t set_step) {
 	if (acknowledgeQueue == MessageQueueIF::NO_QUEUE) {
 		this->initialize();
 	}
+	if(currentPacket == nullptr) {
+	    return;
+	}
 	PusVerificationMessage message(set_report_id,
-			current_packet->getAcknowledgeFlags(),
+			currentPacket->getAcknowledgeFlags(),
-			current_packet->getPacketId(),
+			currentPacket->getPacketId(),
-			current_packet->getPacketSequenceControl(), 0, set_step);
+			currentPacket->getPacketSequenceControl(), 0, set_step);
 	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
 			&message);
 	if (status != HasReturnvaluesIF::RETURN_OK) {
@@ -56,15 +59,18 @@ void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
 }
 
 void VerificationReporter::sendFailureReport(uint8_t report_id,
-		TcPacketBase* current_packet, ReturnValue_t error_code, uint8_t step,
+		TcPacketBase* currentPacket, ReturnValue_t error_code, uint8_t step,
 		uint32_t parameter1, uint32_t parameter2) {
 	if (acknowledgeQueue == MessageQueueIF::NO_QUEUE) {
 		this->initialize();
 	}
+	if(currentPacket == nullptr) {
+	    return;
+	}
 	PusVerificationMessage message(report_id,
-			current_packet->getAcknowledgeFlags(),
+			currentPacket->getAcknowledgeFlags(),
-			current_packet->getPacketId(),
+			currentPacket->getPacketId(),
-			current_packet->getPacketSequenceControl(), error_code, step,
+			currentPacket->getPacketSequenceControl(), error_code, step,
 			parameter1, parameter2);
 	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
 	        &message);